Modified histogramic technique for mobile robot indoor environment mapping based on uniform random distribution

@article{Osmankovic2012ModifiedHT,
  title={Modified histogramic technique for mobile robot indoor environment mapping based on uniform random distribution},
  author={Dinko Osmankovic and Jasmin Velagic},
  journal={2012 12th IEEE International Workshop on Advanced Motion Control (AMC)},
  year={2012},
  pages={1-6}
}
In this paper we introduce a modification of histogramic in - motion mapping technique for mobile robots. This modification is based on the premise that precise sonar model is not required for accurate map building. We use uniform random distribution approach to replace the probabilistic model of sonar sensor. Problem of localization of the mobile robot is also discussed as it is very important for the precise mapping of the environment. For this purpose we used odometry measurements processed… CONTINUE READING

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